JP7170631B2 - 外科ナビゲーションシステム及び関連する方法 - Google Patents
外科ナビゲーションシステム及び関連する方法 Download PDFInfo
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Description
本出願は、2016年10月5日に出願された米国仮出願第62/404,761号及び2017年2月10日に出願された米国仮出願第62/457,610号の優先権の利益を主張し、それらの全文は、恰も完全に本明細書中に示されているかのように本明細書中に参照として明示的に援用される。
Archive and Communication System)(PACS)規格、位相交替線(Phase Alternating Line)(PAL)規格、及び全国テレビジョン方式委員会(National
Television System Committee)(NTSC)規格における、デジタル撮像及び通信のような、業界規格に従ってフォーマットされてよい。コンピュータシステム12は、1以上のネットワーク(例えば、病院PACSのような有線又は無線ローカルエリアネットワーク)を通じて、或いはUSB、CD、DVD、DVI、コンポジットビデオ、又はアナログビデオを介して、入力を受信してよい。有利には、本明細書で議論するように、本システム10は、術中及び術前CT画像との自動位置合わせ(レジストレーション)(registration)を利用し、システム10は、画像認識を通じて各椎体のセグメント化(セグメンテーション)(segmentation)を行うように構成され、システム10は、外科的処置中に脊椎を動的にトラッキングし得るよう、個々の椎体を位置合わせするように構成される。
Claims (17)
- 手術ナビゲーションのためのシステムであって、
脊椎ピンと、
トラッキングマーカを含む第1のアレイと、
前記第1のアレイをトラッキングするように構成される少なくとも1つのカメラと、
プロセッサを含むコンピュータシステムと、を含み、
前記脊椎ピンは、
アレイと連結し且つ連結されるアレイに対する回転に抗するように構成される、第1の端と、
解剖学的構造に挿入されるように構成される鋭利な先端を有する、前記第1の端とは反対側の、第2の端と、
第1の放射線撮影グリフと、
前記脊椎ピンの軸方向においてある距離だけ前記第1の放射線撮影グリフから分離される第2の放射線撮影グリフと、を含み、
前記第1のアレイは、前記脊椎ピンの前記第1の端との接続を介して椎骨と解放可能に固定されるように構成され、
前記コンピュータシステムは、
前記少なくとも1つのカメラから前記アレイの1つ以上のカメラ画像を受信し、
前記解剖学的構造のシミュレーションをディスプレイスクリーンの上に表示する
ように構成され、
前記第1の端は、前記脊椎ピンの前記軸方向に対する横方向において三小葉断面プロファイルを含む、
システム。 - 前記トラッキングマーカは、6自由度における半球形マーカを含む、請求項1に記載のシステム。
- トラッキングマーカを含む第2のアレイを更に含み、該第2のアレイは、第2の解剖学的構造と解放可能に固定されるように構成される、請求項1に記載のシステム。
- 前記第1のアレイは、凹部を含み、前記トラッキングマーカは、前記凹部内に少なくとも部分的に収容される、請求項1に記載のシステム。
- 前記第1のアレイは、少なくとも2つの反対に面する表面を含み、各表面は、複数の前記トラッキングマーカを有する、請求項1に記載のシステム。
- 前記トラッキングマーカは、前記第1のアレイの第1の表面に配置される少なくとも1つのマーカと、前記第1のアレイの第2の表面に配置される少なくとも1つのマーカとを含む、請求項5に記載のシステム。
- 前記第1のアレイは、360度アレイである、請求項1に記載のシステム。
- 前記第1のアレイは、360度プリズムアレイである、請求項1に記載のシステム。
- 少なくとも1つのCアームアレイマーカを含むCアームアレイマウントと連結されるCアームを更に含み、
前記コンピュータシステムは、
前記少なくとも1つのカメラから前記少なくとも1つのCアームアレイマーカの1つ以上のカメラ画像を受信する、
ように更に構成される、
請求項1に記載のシステム。 - 前記少なくとも1つのカメラは、赤外線カメラと、可視光カメラとを含む、請求項1に記載のシステム。
- 前記コンピュータシステムは、
1つ以上の3D画像を受信し、
前記1つ以上の3D画像内で前記第1の放射線撮影グリフ及び前記第2の放射線撮影グリフを認識し、
前記第1のアレイの前記トラッキングマーカを感知し、且つ
前記第1のアレイの前記感知されたトラッキングマーカと前記認識された第1及び第2の放射線撮影グリフとを用いて位置合わせを実行する、
ように更に構成される、
請求項1に記載のシステム。 - 前記コンピュータシステムは、
1つ以上の3D画像を受信し、
前記1つ以上の3D画像内で前記距離だけ分離される前記第1及び第2の放射線撮影グリフの幾何学的形状を認識し、
前記第1のアレイの前記トラッキングマーカを感知し、且つ
前記第1のアレイの前記感知されたトラッキングマーカと前記認識された幾何学的形状とを用いて位置合わせを実行する、
ように更に構成される、
請求項1に記載のシステム。 - 前記距離は、5ミリメートル~100ミリメートルの間である、請求項1に記載のシステム。
- 前記第1の放射線撮影グリフ及び前記第2の放射線撮影グリフは、前記脊椎ピンの長さと同軸である、請求項1に記載のシステム。
- 前記第1の放射線撮影グリフから延びる第1のグリフアームと、
前記第1のグリフアームに連結される第3の放射線撮影グリフと、
前記第2の放射線撮影グリフから延びる第2のグリフアームと、
前記第2のグリフアームに連結される第4の放射線撮影グリフと、を更に含む、
請求項1に記載のシステム。 - 前記第2の放射線撮影グリフと前記第2の端との間に配置される深さリミッタを更に含む、請求項1に記載のシステム。
- 前記脊椎ピンは、ツール係合構成を更に含み、
当該システムは、前記ツール係合構成と連結し且つ前記脊椎ピンの挿入を容易にするように構成される脊椎ピン挿入装置を更に含む、
請求項1に記載のシステム。
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